function gestureRecognition
%%% 
% main - gesture recognition of TOF camera data
%
% Hu Ninghang 2010
%
    
    %% loading data
    close all
    load('gestureData\data4.mat')
    
    %% pixel image smoothing and reshaping
    i = 200;
    imD = medfilt2(reshape(D(i,:),144,176));
    imA = medfilt2(reshape(A(i,:),144,176));
    imC = medfilt2(reshape(C(i,:),144,176));
    imX = reshape(X(i,:),144,176);
    imY = reshape(Y(i,:),144,176);
    
    %% foreground segmentation
    threSeg = 0.06;
    [PX,PY,PZ,ind] = foregroundSeg(imD,imX,imY,imA,imC,threSeg);
    
    %% find interst points
    threIP = inf;
    p = interestPointFinding(PX,PY,PZ,ind,threIP);

end